def __init__(self):
smach.State.__init__(self,
outcomes=['success'],
input_keys=['backplate_pose_in', 'object_in'])
init_arm_helpers()
self.add_to_platform = rospy.ServiceProxy(
'/backplate_manager/add_object_to_plate', BackplateStateModify)
def __init__(self):
smach.State.__init__(
self,
outcomes=['success', 'too_far', 'failed', 'failed_after_grip'],
input_keys=['pose_in', 'point_in', 'object_in'],
output_keys=['object_out'])
init_arm_helpers()
def init_globals_detect():
global NO_MOVE_BASE, NO_FINE_ADJUST, NO_VISION, loc_service
if NO_MOVE_BASE is None:
init_arm_helpers()
init_helpers()
NO_MOVE_BASE = rospy.get_param("smach/no_move_base", False)
NO_FINE_ADJUST = rospy.get_param("smach/no_fine_adjust", False)
NO_VISION = rospy.get_param("smach/no_vision", False)
def init_globals_detect():
global NO_MOVE_BASE, NO_FINE_ADJUST, NO_VISION, loc_service
if NO_MOVE_BASE is None:
init_arm_helpers()
init_helpers()
NO_MOVE_BASE = rospy.get_param("smach/no_move_base", False)
NO_FINE_ADJUST = rospy.get_param("smach/no_fine_adjust", False)
NO_VISION = rospy.get_param("smach/no_vision", False)
def __init__(self):
smach.State.__init__(self, outcomes=['success', 'not_reached', 'failed'])
init_arm_helpers()
self.counter = 0
def __init__(self):
smach.State.__init__(self, outcomes=['done'], input_keys=['pose_in'])
init_arm_helpers()
def __init__(self, blocking=True):
smach.State.__init__(self, outcomes=['success'], input_keys=['pose_in'])
init_arm_helpers()
self.blocking = blocking
def __init__(self):
smach.State.__init__(self, outcomes=['end'])
init_arm_helpers()
def __init__(self, blocking=False, no_rotate=False):
smach.State.__init__(self, outcomes=['done'], input_keys=['pose_in'])
init_arm_helpers()
self.blocking = blocking
self.no_rotate = no_rotate
def __init__(self):
smach.State.__init__(self, outcomes=['success', 'too_far', 'failed', 'failed_after_grip'],
input_keys=['pose_in', 'point_in', 'object_in'], output_keys=['object_out'])
init_arm_helpers()
def __init__(self, blocking=True):
smach.State.__init__(self,
outcomes=['success'],
input_keys=['pose_in'])
init_arm_helpers()
self.blocking = blocking
def __init__(self, blocking=False, no_rotate=False):
smach.State.__init__(self, outcomes=['done'], input_keys=['pose_in'])
init_arm_helpers()
self.blocking = blocking
self.no_rotate = no_rotate
def __init__(self):
smach.State.__init__(self,
outcomes=['success', 'failed'],
input_keys=['pose_in'],
output_keys=['pose_out'])
init_arm_helpers()
def __init__(self, blocking=True):
smach.State.__init__(self, outcomes=['done'])
init_arm_helpers()
self.blocking = blocking
def __init__(self):
smach.State.__init__(self,
outcomes=['success', 'not_reached', 'failed'])
init_arm_helpers()
self.counter = 0
def __init__(self):
smach.State.__init__(self, outcomes=['done'], input_keys=['pose_in'])
init_arm_helpers()
def __init__(self, blocking=True):
smach.State.__init__(self, outcomes=['done'])
init_arm_helpers()
self.blocking = blocking
def __init__(self):
smach.State.__init__(self, outcomes=['success'], input_keys=['backplate_pose_in', 'object_in'])
init_arm_helpers()
self.add_to_platform = rospy.ServiceProxy('/backplate_manager/add_object_to_plate', BackplateStateModify)
def __init__(self):
smach.State.__init__(self, outcomes=['success', 'failed'], input_keys=['pose_in'], output_keys=['pose_out'])
init_arm_helpers()
def __init__(self):
smach.State.__init__(self, outcomes=['end'])
init_arm_helpers()
